![]() ![]() An efficient model-free intelligent fuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. A communication signal is specified to integrate both robot arm and gripper control kernels for executing the robotic position control and gripper force control functions in sequence. Here, an intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of object’s mass and soft/hard features. ![]() In addition, it can not overcome the target slip problem due to mass uncertainty and dynamic factor. It has too expensive and complex control strategy disadvantages for most of industrial applications. Although, an appropriate grasping force or gripper opening for each target could be searched by trial-and-error process, it needs expensive force/torque sensor or an accurate gripper position controller. Without contact force monitoring, it can not be applied in fragile or soft objects handling. The on-off control robot gripper is widely employed in pick-and-place operations in Cartesian space for handling hard objects between two positions. ![]()
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